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Datasets:
frk2
/
so100

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
596
episode_index
int64
0
1
index
int64
0
1.19k
task_index
int64
0
0
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[ 58.18359375, 138.8671875, 141.50390625, 61.787109375, -4.306640625, 16.57848358154297 ]
2.366667
71
0
71
0
[ 59.326171875, 133.2421875, 138.69140625, 62.666015625, -3.779296875, 17.28972053527832 ]
[ 58.53515625, 137.28515625, 141.416015625, 61.787109375, -4.04296875, 16.57848358154297 ]
2.4
72
0
72
0
[ 59.0625, 130.25390625, 137.548828125, 62.841796875, -3.427734375, 17.28972053527832 ]
[ 58.7109375, 135.439453125, 141.328125, 61.787109375, -3.603515625, 16.57848358154297 ]
2.433333
73
0
73
0
[ 58.88671875, 127.44140625, 136.58203125, 62.9296875, -2.98828125, 17.28972053527832 ]
[ 58.7109375, 133.59375, 140.80078125, 61.787109375, -3.603515625, 16.57848358154297 ]
2.466667
74
0
74
0
[ 58.7109375, 124.716796875, 135.615234375, 63.10546875, -2.63671875, 17.28972053527832 ]
[ 58.53515625, 131.044921875, 139.921875, 61.787109375, -3.33984375, 16.57848358154297 ]
2.5
75
0
75
0
[ 58.53515625, 122.6953125, 134.912109375, 63.10546875, -2.4609375, 17.28972053527832 ]
[ 58.18359375, 128.3203125, 139.130859375, 61.787109375, -2.8125, 16.57848358154297 ]
2.533333
76
0
76
0
[ 58.271484375, 121.552734375, 134.47265625, 63.10546875, -2.373046875, 17.28972053527832 ]
[ 58.095703125, 125.859375, 138.251953125, 62.2265625, -2.724609375, 16.57848358154297 ]
2.566667
77
0
77
0
[ 58.0078125, 121.2890625, 134.296875, 63.10546875, -2.373046875, 17.28972053527832 ]
[ 58.095703125, 123.662109375, 137.4609375, 62.490234375, -2.548828125, 16.57848358154297 ]
2.6
78
0
78
0
[ 57.744140625, 121.2890625, 133.9453125, 63.10546875, -2.373046875, 17.28972053527832 ]
[ 58.095703125, 122.607421875, 137.109375, 62.578125, -2.4609375, 16.57848358154297 ]
2.633333
79
0
79
0
[ 57.568359375, 121.2890625, 133.505859375, 63.28125, -2.28515625, 17.28972053527832 ]
[ 58.0078125, 121.9921875, 136.845703125, 62.666015625, -2.4609375, 16.57848358154297 ]
2.666667
80
0
80
0
[ 57.392578125, 121.2890625, 132.71484375, 63.6328125, -2.28515625, 17.28972053527832 ]
[ 57.83203125, 121.46484375, 136.142578125, 62.666015625, -2.4609375, 16.57848358154297 ]
2.7
81
0
81
0
[ 57.216796875, 121.201171875, 131.572265625, 64.423828125, -2.28515625, 17.28972053527832 ]
[ 57.48046875, 121.2890625, 135.703125, 62.666015625, -2.4609375, 16.57848358154297 ]
2.733333
82
0
82
0
[ 57.12890625, 121.201171875, 130.25390625, 65.390625, -2.28515625, 17.28972053527832 ]
[ 57.12890625, 121.025390625, 135, 62.666015625, -2.4609375, 16.57848358154297 ]
2.766667
83
0
83
0
[ 57.041015625, 121.201171875, 128.583984375, 66.533203125, -2.28515625, 17.28972053527832 ]
[ 57.041015625, 121.025390625, 134.033203125, 63.28125, -2.4609375, 16.57848358154297 ]
2.8
84
0
84
0
[ 57.041015625, 121.11328125, 126.826171875, 67.8515625, -2.28515625, 17.28972053527832 ]
[ 56.953125, 121.025390625, 133.154296875, 64.072265625, -2.4609375, 16.57848358154297 ]
2.833333
85
0
85
0
[ 57.041015625, 120.9375, 124.8046875, 69.169921875, -2.28515625, 17.28972053527832 ]
[ 56.953125, 121.025390625, 131.923828125, 65.0390625, -2.4609375, 16.57848358154297 ]
2.866667
86
0
86
0
[ 57.12890625, 120.146484375, 122.6953125, 70.48828125, -2.28515625, 17.383176803588867 ]
[ 56.953125, 120.673828125, 130.166015625, 65.830078125, -2.4609375, 16.57848358154297 ]
2.9
87
0
87
0
[ 57.216796875, 118.916015625, 120.5859375, 71.630859375, -2.28515625, 17.383176803588867 ]
[ 56.953125, 120.234375, 128.3203125, 66.884765625, -2.4609375, 16.57848358154297 ]
2.933333
88
0
88
0
[ 57.48046875, 117.333984375, 118.4765625, 72.59765625, -2.28515625, 17.383176803588867 ]
[ 56.953125, 119.794921875, 126.474609375, 68.5546875, -2.4609375, 16.57848358154297 ]
2.966667
89
0
89
0
[ 57.744140625, 115.576171875, 116.630859375, 73.30078125, -2.28515625, 17.383176803588867 ]
[ 56.953125, 118.212890625, 124.453125, 69.2578125, -2.28515625, 16.57848358154297 ]
3
90
0
90
0
[ 58.18359375, 113.642578125, 115.13671875, 73.564453125, -2.28515625, 17.383176803588867 ]
[ 56.953125, 116.71875, 122.607421875, 70.6640625, -2.4609375, 16.57848358154297 ]
3.033333
91
0
91
0
[ 58.623046875, 111.708984375, 113.994140625, 73.564453125, -2.28515625, 17.383176803588867 ]
[ 57.041015625, 115.400390625, 120.76171875, 71.630859375, -2.373046875, 16.57848358154297 ]
3.066667
92
0
92
0
[ 59.0625, 109.599609375, 112.939453125, 73.564453125, -2.28515625, 17.383176803588867 ]
[ 57.392578125, 113.5546875, 119.091796875, 71.54296875, -2.4609375, 16.57848358154297 ]
3.1
93
0
93
0
[ 59.501953125, 107.75390625, 112.1484375, 73.564453125, -2.28515625, 17.383176803588867 ]
[ 57.65625, 111.533203125, 117.59765625, 72.59765625, -2.373046875, 16.57848358154297 ]
3.133333
94
0
94
0
[ 59.94140625, 105.8203125, 111.4453125, 73.564453125, -2.28515625, 17.383176803588867 ]
[ 58.095703125, 109.6875, 116.19140625, 72.158203125, -2.4609375, 16.57848358154297 ]
3.166667
95
0
95
0
[ 60.380859375, 103.974609375, 110.830078125, 73.4765625, -2.28515625, 17.383176803588867 ]
[ 58.53515625, 108.017578125, 115.3125, 72.24609375, -2.4609375, 16.57848358154297 ]
3.2
96
0
96
0
[ 60.8203125, 102.392578125, 110.302734375, 73.30078125, -2.28515625, 17.476634979248047 ]
[ 58.798828125, 105.732421875, 114.345703125, 72.861328125, -2.28515625, 16.57848358154297 ]
3.233333
97
0
97
0
[ 61.34765625, 100.8984375, 109.86328125, 73.125, -2.28515625, 17.476634979248047 ]
[ 59.0625, 103.88671875, 113.5546875, 72.333984375, -2.4609375, 16.57848358154297 ]
3.266667
98
0
98
0
[ 61.787109375, 99.4921875, 109.3359375, 72.94921875, -2.28515625, 18.130840301513672 ]
[ 59.58984375, 102.568359375, 112.939453125, 73.037109375, -2.4609375, 16.57848358154297 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1194,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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